Interaction force and motion estimators facilitating impedance control of the upper limb rehabilitation robot.
Aitziber MancisidorAsier ZubizarretaItziar CabanesPablo BengoaJe Hyung JungPublished in: ICORR (2017)
Keyphrases
- impedance control
- end effector
- manipulation tasks
- force control
- position control
- human robot interaction
- humanoid robot
- robot manipulators
- motion planning
- inverse kinematics
- joint angles
- degrees of freedom
- robot arm
- vision system
- sagittal plane
- visual servoing
- human computer interaction
- robotic manipulator
- model free
- mobile robot
- position and orientation
- robotic systems
- configuration space
- force feedback
- closed loop
- control scheme
- biologically inspired
- control strategy
- motor control
- human motion
- motion capture
- path planning
- visual feedback
- camera motion
- multi robot
- control law
- contact force
- robotic arm
- service robots
- robot navigation
- hand gestures
- gesture recognition
- optimal control
- image sequences
- feedback loop
- robot control
- control architecture
- computer vision
- pid controller
- visual data
- pose estimation
- multi modal
- control system
- optical flow